#ifndef __PID_H_
#define __PID_H_
#ifdef __cplusplus
extern "C" {
#endif
// void PID(double* Input, double* Output, double* Setpoint,
// 	double Kp, double Ki, double Kd, int ControllerDirection);
void AD_PID_Compute(int16_t *myInput, int16_t *mySetpoint, int16_t *myOutput, double KBigp, double KLitp, double Ki, double Kd);
void Encoser_PID_Compute(int16_t *myInput, int16_t *mySetpoint, int16_t *myOutput, double Kp, double Ki, double Kd);
void Server_PID_Compute(int16_t *myInput, int16_t *mySetpoint, int16_t *myOutput, double Kp, double Ki, double Kd);
//static void TIM1_PWM_Config(void)
// void PID_SetTunings(double Kp, double Ki, double Kd);
// void PID_SetSampleTime(int NewSampleTime);
// void PID_SetOutputLimits(double Min, double Max);
// void PID_SetMode(int Mode);
// void PID_Initialize(void);
// void PID_SetControllerDirection(int Direction);
#ifdef __cplusplus
}
#endif
#endif
